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WO2008115546A3 - Method and system for controlling a vehicle for loading or digging material - Google Patents

Method and system for controlling a vehicle for loading or digging material Download PDF

Info

Publication number
WO2008115546A3
WO2008115546A3 PCT/US2008/003674 US2008003674W WO2008115546A3 WO 2008115546 A3 WO2008115546 A3 WO 2008115546A3 US 2008003674 W US2008003674 W US 2008003674W WO 2008115546 A3 WO2008115546 A3 WO 2008115546A3
Authority
WO
WIPO (PCT)
Prior art keywords
torque
vehicle
torque level
controlling
loading
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/US2008/003674
Other languages
French (fr)
Other versions
WO2008115546A2 (en
Inventor
David August Johnson
Mark Peter Sahlin
Eric Richard Anderson
Mark John Cherney
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Deere and Co
Original Assignee
Deere and Co
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Deere and Co filed Critical Deere and Co
Priority to JP2009554577A priority Critical patent/JP2010522293A/en
Priority to EP08727025.2A priority patent/EP2129559B1/en
Publication of WO2008115546A2 publication Critical patent/WO2008115546A2/en
Publication of WO2008115546A3 publication Critical patent/WO2008115546A3/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/2029—Controlling the position of implements in function of its load, e.g. modifying the attitude of implements in accordance to vehicle speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/30—Conjoint control of vehicle sub-units of different type or different function including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/30—Wheel torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18172—Preventing, or responsive to skidding of wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/40—Special vehicles
    • B60Y2200/41—Construction vehicles, e.g. graders, excavators
    • B60Y2200/415—Wheel loaders

Landscapes

  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Operation Control Of Excavators (AREA)
  • Harvester Elements (AREA)

Abstract

A method and system for controlling a vehicle 250 comprises a torque detector 10 for detecting a first torque level and a second torque level applied to at least one wheel 254 of the vehicle 250. The first torque level is associated with a lower boom position of a boom 252 and a second torque level is associated with an elevated boom position higher than the lower boom position. A first hydraulic cylinder 14 is capable of raising a boom from the lower boom position to raise an available torque from the first torque level. A second hydraulic cylinder 20 is adapted to upwardly rotate or curl a bucket 251 associated with the vehicle250 when the detected second torque level meets or exceeds a second torque threshold, for example.
PCT/US2008/003674 2007-03-20 2008-03-19 Method and system for controlling a vehicle for loading or digging material Ceased WO2008115546A2 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2009554577A JP2010522293A (en) 2007-03-20 2008-03-19 Method and system for controlling a vehicle for loading or excavating materials
EP08727025.2A EP2129559B1 (en) 2007-03-20 2008-03-19 Method and system for controlling a vehicle for loading or digging material

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US89580807P 2007-03-20 2007-03-20
US60/895,808 2007-03-20
US11/782,343 US7853384B2 (en) 2007-03-20 2007-07-24 Method and system for controlling a vehicle for loading or digging material
US11/782,343 2007-07-24

Publications (2)

Publication Number Publication Date
WO2008115546A2 WO2008115546A2 (en) 2008-09-25
WO2008115546A3 true WO2008115546A3 (en) 2008-11-06

Family

ID=39766678

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2008/003674 Ceased WO2008115546A2 (en) 2007-03-20 2008-03-19 Method and system for controlling a vehicle for loading or digging material

Country Status (4)

Country Link
US (1) US7853384B2 (en)
EP (1) EP2129559B1 (en)
JP (1) JP2010522293A (en)
WO (1) WO2008115546A2 (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007086783A1 (en) * 2006-01-26 2007-08-02 Volvo Construction Equipment Ab A method for controlling a movement of a vehicle component
US7894962B2 (en) * 2007-02-21 2011-02-22 Deere & Company Automated control of boom and attachment for work vehicle
US8571763B2 (en) * 2009-03-12 2013-10-29 Komatsu Ltd. Construction vehicle provided with work equipment
JP4987164B2 (en) * 2009-03-18 2012-07-25 株式会社小松製作所 Construction vehicle
US9334883B2 (en) * 2010-11-01 2016-05-10 Volvo Construction Equipment Ab Method for controlling a hydraulic system of a working machine
AU2012202213B2 (en) 2011-04-14 2014-11-27 Joy Global Surface Mining Inc Swing automation for rope shovel
US8666574B2 (en) * 2011-04-21 2014-03-04 Deere & Company In-vehicle estimation of electric traction motor performance
US9464410B2 (en) * 2011-05-19 2016-10-11 Deere & Company Collaborative vehicle control using both human operator and automated controller input
JP5965482B2 (en) * 2012-06-04 2016-08-03 日立建機株式会社 Work vehicle
JP5228132B1 (en) * 2012-09-12 2013-07-03 株式会社小松製作所 Wheel loader
EP2853641B1 (en) * 2013-07-12 2017-06-14 Komatsu Ltd. Work vehicle and method for controlling work vehicle
CL2015000136A1 (en) * 2014-01-21 2015-11-27 Harnischfeger Tech Inc Control of an extension parameter of an industrial machine
JP6480830B2 (en) * 2015-08-24 2019-03-13 株式会社小松製作所 Wheel loader control system, control method therefor, and wheel loader control method
US9994104B2 (en) 2015-09-03 2018-06-12 Deere & Company System and method of reacting to wheel slip in a traction vehicle
US10407072B2 (en) 2015-09-03 2019-09-10 Deere & Company System and method of regulating wheel slip in a traction vehicle
US9845008B2 (en) 2015-09-03 2017-12-19 Deere & Company System and method of detecting load forces on a traction vehicle to predict wheel slip
US10112615B2 (en) * 2015-09-03 2018-10-30 Deere & Company System and method of reacting to wheel slip in a traction vehicle
US9555706B1 (en) * 2015-11-12 2017-01-31 Caterpillar Inc. Traction control system and process for a machine having a work implement
US10106951B2 (en) * 2016-09-21 2018-10-23 Deere & Company System and method for automatic dump control
US11589507B2 (en) 2017-06-19 2023-02-28 Deere & Company Combine harvester control interface for operator and/or remote user
US11789413B2 (en) 2017-06-19 2023-10-17 Deere & Company Self-learning control system for a mobile machine
US12140971B2 (en) * 2017-06-19 2024-11-12 Deere & Company Remote control of settings on a combine harvester
US10544565B2 (en) 2017-10-17 2020-01-28 Caterpillar Inc. On demand machine rimpull adjustment to prevent tire slip
CN108946589A (en) * 2018-07-11 2018-12-07 中国煤炭科工集团太原研究院有限公司 Operating mechanism for underground coal mine superduty shovel-type support conveying vehicle
US10981570B2 (en) * 2019-02-11 2021-04-20 Caterpillar Inc. Rimpull limit based on wheel slippage
KR102690429B1 (en) * 2019-02-28 2024-07-31 에이치디현대인프라코어 주식회사 Method and system for controlling wheel loader
FI3907332T3 (en) * 2020-05-06 2023-04-25 Sandvik Mining & Construction Oy Traction control during loading operations of a mining machine
FI3907335T3 (en) * 2020-05-06 2023-05-08 Sandvik Mining & Construction Oy Autonomous loading operations of a mining machine
US11965313B2 (en) * 2021-01-20 2024-04-23 Cnh Industrial America Llc System and method for determining parallel lift feedforward control for a wheel loader
US12146301B2 (en) 2021-04-29 2024-11-19 Caterpillar Inc. Automatic torque control system
CN113653124B (en) * 2021-08-26 2022-09-16 江苏电子信息职业学院 A pure electric drive wheeled unmanned loader excavation control method
CN114575399B (en) * 2022-03-11 2022-12-06 湖南三一华源机械有限公司 Engineering machine and scraper knife control method and control system thereof
JP2024007313A (en) 2022-07-05 2024-01-18 吉谷土木株式会社 Planting support methods and field work support systems, etc.

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3782572A (en) * 1971-03-22 1974-01-01 Poclain Sa Public works machine
US5493798A (en) * 1994-06-15 1996-02-27 Caterpillar Inc. Teaching automatic excavation control system and method
US5528843A (en) * 1994-08-18 1996-06-25 Caterpillar Inc. Control system for automatically controlling a work implement of an earthworking machine to capture material
US5968103A (en) * 1997-01-06 1999-10-19 Caterpillar Inc. System and method for automatic bucket loading using crowd factors
US5974352A (en) * 1997-01-06 1999-10-26 Caterpillar Inc. System and method for automatic bucket loading using force vectors
US6064933A (en) * 1997-05-16 2000-05-16 Caterpillar Inc. Automatic bucket loading using teaching and playback modes triggered by pile contact
US6205687B1 (en) * 1999-06-24 2001-03-27 Caterpillar Inc. Method and apparatus for determining a material condition
US6234254B1 (en) * 1999-03-29 2001-05-22 Caterpillar Inc. Apparatus and method for controlling the efficiency of the work cycle associated with an earthworking machine
US6321153B1 (en) * 2000-06-09 2001-11-20 Caterpillar Inc. Method for adjusting a process for automated bucket loading based on engine speed
US20010056319A1 (en) * 1999-12-15 2001-12-27 Rocke David J. System and method for automatically controlling a work implement of an earthmoving machine based on discrete values of torque

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US3643828A (en) 1969-07-09 1972-02-22 James H Elliott Automatic control system for front end loader
US5000650A (en) 1989-05-12 1991-03-19 J.I. Case Company Automatic return to travel
JPH05106243A (en) * 1991-10-15 1993-04-27 Hitachi Constr Mach Co Ltd Control device for self-propelled work machine
US5720358A (en) * 1995-12-06 1998-02-24 Caterpillar Inc. Apparatus for controlling the torque on a power train and method of operating the same
US6211471B1 (en) 1999-01-27 2001-04-03 Caterpillar Inc. Control system for automatically controlling a work implement of an earthmoving machine to capture, lift and dump material
WO2000052627A1 (en) 1999-03-01 2000-09-08 North Carolina State University Crane monitoring and data retrieval system and method
US6879899B2 (en) 2002-12-12 2005-04-12 Caterpillar Inc Method and system for automatic bucket loading

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3782572A (en) * 1971-03-22 1974-01-01 Poclain Sa Public works machine
US5493798A (en) * 1994-06-15 1996-02-27 Caterpillar Inc. Teaching automatic excavation control system and method
US5528843A (en) * 1994-08-18 1996-06-25 Caterpillar Inc. Control system for automatically controlling a work implement of an earthworking machine to capture material
US5968103A (en) * 1997-01-06 1999-10-19 Caterpillar Inc. System and method for automatic bucket loading using crowd factors
US5974352A (en) * 1997-01-06 1999-10-26 Caterpillar Inc. System and method for automatic bucket loading using force vectors
US6064933A (en) * 1997-05-16 2000-05-16 Caterpillar Inc. Automatic bucket loading using teaching and playback modes triggered by pile contact
US6234254B1 (en) * 1999-03-29 2001-05-22 Caterpillar Inc. Apparatus and method for controlling the efficiency of the work cycle associated with an earthworking machine
US6205687B1 (en) * 1999-06-24 2001-03-27 Caterpillar Inc. Method and apparatus for determining a material condition
US20010056319A1 (en) * 1999-12-15 2001-12-27 Rocke David J. System and method for automatically controlling a work implement of an earthmoving machine based on discrete values of torque
US6321153B1 (en) * 2000-06-09 2001-11-20 Caterpillar Inc. Method for adjusting a process for automated bucket loading based on engine speed

Also Published As

Publication number Publication date
WO2008115546A2 (en) 2008-09-25
EP2129559B1 (en) 2017-08-16
EP2129559A2 (en) 2009-12-09
US20080234901A1 (en) 2008-09-25
JP2010522293A (en) 2010-07-01
US7853384B2 (en) 2010-12-14
EP2129559A4 (en) 2016-09-07

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